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cs.RO2021
Direct Random Search for Fine Tuning of Deep Reinforcement Learning Policies
Sean Gillen, Asutay Ozmen, Katie Byl
Researchers have demonstrated that Deep Reinforcement Learning (DRL) is a powerful tool for finding policies that perform well on complex robotic systems. However, these policies a…
cs.RO2020
Combining Deep Reinforcement Learning And Local Control For The Acrobot Swing-up And Balance Task
Sean Gillen, Marco Molnar, Katie Byl
In this work we present a novel extension of soft actor critic, a state of the art deep reinforcement algorithm. Our method allows us to combine traditional controllers with learne…
cs.RO2020
Mesh Based Analysis of Low Fractal Dimension Reinforcement Learning Policies
Sean Gillen, Katie Byl
In previous work, using a process we call meshing, the reachable state spaces for various continuous and hybrid systems were approximated as a discrete set of states which can then…